Vector is base class of other vector like classes. It represents a series of vectors.
from py3d import Vector
Vector()
Vector([], dtype=float64)
Vector([0, 0, 0, 0])
Vector([0, 0, 0, 0])
Vector([1, 2, -4])
Vector([ 1, 2, -4])
Vector([1, 2, 3]).tile(2)
Vector([[1, 2, 3],
[1, 2, 3]])
import py3d
py3d.Vector([1, 2, 0, 3])
Vector([1, 2, 0, 3])
Vector([1]).tile(2)
Vector([[1],
[1]])
Get unit vector
import py3d
V32 = py3d.Vector([
[1, 3],
[2, -9],
[0.1, -3]])
V32.U
Vector([[ 0.31622777, 0.9486833 ],
[ 0.21693046, -0.97618706],
[ 0.03331483, -0.99944491]])
Get length of vectors
V32.L
array([3.16227766, 9.21954446, 3.0016662 ])
from numpy import allclose
assert allclose(V32.U.L, [[1], [1], [1]])
Get homogeneous vector
V32.H
Vector3([[ 1. , 3. , 1. ],
[ 2. , -9. , 1. ],
[ 0.1, -3. , 1. ]])
Get a series of random vectors
import py3d
py3d.Vector.rand(2,3,4)
Vector([[[0.75484836, 0.3772953 , 0.59450523, 0.74008593],
[0.01491346, 0.97655452, 0.43380789, 0.60751167],
[0.15396375, 0.7680137 , 0.18282344, 0.67366411]],
[[0.60673536, 0.62778928, 0.34337596, 0.19259518],
[0.13334425, 0.32054147, 0.55035139, 0.22076535],
[0.4603502 , 0.71617461, 0.9328283 , 0.92517644]]])
import py3d
py3d.Vector([[0,0],[1,2],[3,4]]).diff()
Vector([[1, 2],
[2, 2]])
Read pcd file
import py3d
py3d.read_pcd("ascii.pcd").xyz.as_point()
import py3d
pcd = py3d.read_pcd("binary.pcd")
print("min", pcd.min())
print("max", pcd.max())
pcd.xyz.as_point().paint(py3d.Color.map(pcd.z))
min [-1.09082863e+02 -4.56674919e+01 -4.33038330e+00 2.50000000e+01 1.22393358e+09] max [9.74602280e+01 8.35153122e+01 4.22846746e+00 2.55000000e+02 1.22393358e+09]